CN110702683A - Underwater walking device for aqueduct detection - Google Patents
Underwater walking device for aqueduct detection Download PDFInfo
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- CN110702683A CN110702683A CN201910826477.8A CN201910826477A CN110702683A CN 110702683 A CN110702683 A CN 110702683A CN 201910826477 A CN201910826477 A CN 201910826477A CN 110702683 A CN110702683 A CN 110702683A
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- truss
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
- G01M3/04—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point
- G01M3/20—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point using special tracer materials, e.g. dye, fluorescent material, radioactive material
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
- G01M3/26—Investigating fluid-tightness of structures by using fluid or vacuum by measuring rate of loss or gain of fluid, e.g. by pressure-responsive devices, by flow detectors
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- Ocean & Marine Engineering (AREA)
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Abstract
The invention discloses an underwater walking device for aqueduct detection, which comprises a middle truss and a detection module, but be equipped with front truss and back truss of height-adjusting respectively around the middle part truss, front truss and back truss bottom are equipped with walking wheel and the waterproof motor of road wheel respectively, middle part truss both sides are equipped with flexible arm respectively, flexible arm end is equipped with the lateral part leading wheel that is used for with aqueduct lateral wall contact walking, detection module includes the detection module control box, the horizontal axis, probe stand and test probe, the detection module control box is fixed in on the front truss, the installation of horizontal axis is on the detection module control box, test probe passes through probe stand and installs at the horizontal axis is terminal, be equipped with the swing arm motor that is used for driving the horizontal axis rotation in the detection module control box, it is rotatory to utilize swing arm motor drive probe stand and its terminal test probe, thereby accomplish the detection to the aqueduct. The invention has simple structure, good effect, high efficiency and low risk, and can replace manual operation.
Description
Technical Field
The invention belongs to the field of detection, relates to detection equipment, and particularly relates to an underwater walking device for aqueduct detection, which is used for detecting cracks and water seepage of aqueducts, inverted siphons, tunnels and other water delivery buildings.
Background
Aqueduct refers to an overhead water tank for conveying water flow of a channel to cross river channels, brooks, depressions and roads. The large aqueduct can be widely used for irrigation and water delivery, flood drainage, sand drainage and the like, and the large aqueduct can also be used for navigation. The aqueduct is mainly built by materials such as masonry, concrete, reinforced concrete and the like. After long-time service, the aqueduct body will have cracks with different sizes, and the waterstop is easy to age and seep after long-time service. At present, cracks and water seepage positions are mainly found by means of underwater observation of divers under the condition of water supply, but the manual operation mode is low in efficiency, high in cost and high in risk. The aqueduct is pumped under the condition of water cut-off, and the detection is carried out in a manual detection mode, but a series of problems such as shutdown, economic loss and the like can be caused. The underwater detection vehicle is used for detecting aqueduct cracks and water seepage, so that the whole detection process is greatly simplified, the detection success rate is improved, and the detection risk is reduced.
Disclosure of Invention
The invention mainly solves the technical problems existing in the existing manual detection technology; the detection device for detecting the crack and the water seepage of the aqueduct under the water delivery state is provided.
The invention also aims to solve the technical problems of the existing manual detection technology; the detection device for aqueduct cracks and water seepage conditions can replace manual operation, and is good in effect, high in efficiency and low in risk.
The technical problem of the invention is mainly solved by the following technical scheme:
the utility model provides an underwater walking device for aqueduct detects which characterized in that: comprises a middle truss and a detection module, wherein the front part and the rear part of the middle truss are respectively provided with a front truss and a rear truss, the bottoms of the front truss and the rear truss are respectively provided with a walking wheel and a waterproof motor for driving the walking wheel, two sides of the middle truss are respectively provided with a telescopic arm, the tail end of the telescopic arm is provided with a side guide wheel which is used for contacting and walking with the side wall of the aqueduct, the detection module comprises a detection module control box, a horizontal shaft, a probe bracket and a detection probe, the detection module control box is fixed on the front truss, the horizontal shaft is arranged on the detection module control box, the probe bracket is arranged at the tail end of the horizontal shaft, the detection probe is arranged at the bottom of the probe bracket, and a swing arm motor for driving a horizontal shaft to rotate is arranged in the detection module control box, and the swing arm motor is used for driving the probe support and the detection probe at the tail end of the probe support to rotate, so that the detection of the aqueduct is completed.
As an improvement, the underwater walking device further comprises a buoyancy adjusting module, the buoyancy adjusting module comprises a plurality of floating barrels, the plurality of floating barrels are longitudinally and symmetrically arranged in the middle truss, and a water inlet and a water outlet for adjusting buoyancy are formed in each floating barrel.
As an improvement, the telescopic arms on the two sides of the middle truss are elastic telescopic arms with adjustable lengths, and the elastic telescopic arms are used for keeping the contact force between the side guide wheels and the side walls of the aqueducts, so that the walking stability of the whole underwater walking device is maintained.
As an improvement, the telescopic arm comprises a shell-type guide groove, an elastic rod and a guide wheel mounting seat, the shell-type guide groove is transversely fixed on the middle truss, one end of the elastic rod is freely slidably mounted in the shell-type guide groove, the other end of the elastic rod is connected with the guide wheel mounting seat, the lateral guide wheel is mounted on the guide wheel mounting seat, a plurality of adjusting holes are formed in the shell-type guide groove and the elastic rod, and the length of the elastic rod extending out of the two sides of the middle truss is selected by selecting different adjusting holes.
As an improvement, the front truss and the front end of the middle truss are connected through a plurality of groups of bolt holes, the height of the middle truss relative to the front truss can be adjusted by selecting different bolt holes, the rear truss and the rear end of the middle truss are also connected through a plurality of groups of bolt holes, and the height of the middle truss relative to the rear truss can be adjusted by selecting different bolt holes, so that the overall height of the middle truss is adjusted.
As an improvement, the detection probe is a high-resolution image acquisition system or a penetration detection module.
As an improvement, the middle truss, the front truss and the rear truss are all made of metal sections.
The invention has the beneficial effects that:
the invention has simple structure and solves the technical problems of the existing manual detection technology; the detection module is a replaceable detection module and can carry various detection probes for detection.
Drawings
Fig. 1 is a schematic three-dimensional structure diagram of the underwater walking device for aqueduct detection.
Fig. 2 is a front view of the underwater walking device of the present invention.
Fig. 3 is a top view of the underwater walking device of the present invention.
Fig. 4 is a schematic view of a telescoping arm portion of fig. 3.
Fig. 5 is a front side view of the underwater walking device of the present invention.
FIG. 6 is a schematic view of two probe holders mounted on a horizontal shaft according to an embodiment of the present invention.
FIG. 7 is a schematic view of three probe holders mounted on a horizontal shaft according to an embodiment of the present invention.
Reference numerals: 1-middle truss, 2-detection module, 3-front truss, 4-rear truss, 5-walking wheel, 6-waterproof motor, 7-telescopic arm, 8-side guide wheel, 9-detection module control box, 10-horizontal shaft, 11-probe bracket, 12-detection probe, 13-buoy, 14-shell type guide groove, 15-elastic rod, 16-guide wheel mounting seat, 17-adjusting hole, 18-fixing hole, 19-elastic part and 20-rigid part.
Detailed Description
In the following, the technical solution of the present invention is further specifically described by way of examples and with reference to the accompanying drawings, for convenience of description, the walking direction, that is, the length direction of the aqueduct is taken as the longitudinal direction, and the direction perpendicular to the longitudinal direction is taken as the transverse direction, and the following directional terms such as up, down, front, back, left, right, etc., only represent the relative position relationship, and do not represent the limitation of the embodiment of the present invention.
As shown in fig. 1 to 7, an underwater walking device for aqueduct detection comprises a middle truss 1, a buoyancy adjusting module and a detection module 2, wherein the front and the back of the middle truss 1 are respectively provided with a front truss 3 and a back truss 4, the bottoms of the front truss 3 and the back truss 4 are respectively provided with a walking wheel 5 and a waterproof motor 6 driving the walking wheel 5, two sides of the middle truss 1 are respectively provided with a telescopic arm 7, the tail end of the telescopic arm 7 is provided with a lateral guide wheel 8 for contacting and walking with the side wall of the aqueduct, the detection module 2 comprises a detection module control box 9, a horizontal shaft 10, a probe bracket 11 and a detection probe 12, the detection module control box 9 is fixed on the front truss 3, the horizontal shaft 10 is installed on the detection module control box 9, the probe bracket 11 is installed at the tail end of the horizontal shaft 10, and the detection probe 12 is detachably installed at, the detection module control box 9 is internally provided with a swing arm motor for driving a horizontal shaft 10 to rotate, and the swing arm motor drives a probe bracket 11 and a detection probe 12 at the tail end of the probe bracket to rotate, so that the detection of the aqueduct is completed.
As shown in fig. 3 and 5, the buoyancy adjusting module includes two sets of buoys 13, the two sets of buoys 13 are longitudinally and symmetrically installed on the left and right sides in the middle truss 1 and parallel to the direction of water flow in the aqueduct, each set of two buoys 13 is provided with a water inlet and a water outlet (not shown in the figure) for adjusting buoyancy, as an embodiment, the water inlet and the water outlet may be provided with manual valves, and the buoyancy of the two buoys 13 is manually adjusted according to the depth of water in the aqueduct, so that the gravity of the whole device is slightly greater than the buoyancy, and thus the whole underwater walking device can walk in the aqueduct with small resistance along the direction; certainly, the water inlet and the water outlet can also be set as automatic regulating valves, and the buoyancy can be regulated in real time according to the water depths of different places of the aqueduct, so that the walking resistance is reduced, and the long endurance is obtained.
As a preferred embodiment, the middle truss 1, the front truss 3 and the rear truss 4 are made of metal section, and most preferably, aluminum alloy section.
The front end of the front truss 3 is connected with the front end of the middle truss 1 through a plurality of groups of bolt holes, the height of the middle truss 1 relative to the front truss 3 can be adjusted by selecting different bolt holes, the rear end of the rear truss 4 is connected with the rear end of the middle truss 1 through a plurality of groups of bolt holes, and the height of the middle truss 1 relative to the rear truss 4 can be adjusted by selecting different bolt holes, so that the overall height of the middle truss 1 is adjusted, and the front truss is suitable for aqueducts or tunnels with different sizes.
As a preferred embodiment, as shown in fig. 3 and 4, the telescopic arms 7 on both sides of the middle truss 1 are elastic telescopic arms 7 with adjustable lengths, and the contact force between the side guide wheels 8 and the side walls of the aqueducts is maintained by the elastic telescopic arms 7, so that the walking stability of the whole underwater walking device is maintained; the telescopic arm 7 comprises a shell type guide groove 14, an elastic rod 15 and a guide wheel mounting seat 16, the shell type guide groove 14 is transversely fixed on the middle truss 1, one end of the elastic rod 15 is freely slidably mounted in the shell type guide groove 14, the other end of the elastic rod is connected with the guide wheel mounting seat 16, the side guide wheel 8 is mounted on the guide wheel mounting seat 16, a plurality of adjusting holes 17 are formed in the shell type guide groove and the elastic rod 15, the shell type guide groove 14 is provided with two corresponding fixing holes 18, the length of the elastic rod 15 extending out of two sides of the middle truss 1 is adjusted by utilizing bolts to penetrate through the fixing holes 18 and selecting different adjusting holes 17, the installation mode of the shell type guide groove 14 and the elastic rod 15 is the same as that of the front truss 3, the detailed description is omitted, for the elastic rod 15, a preferred structure is shown in fig. 5, one end of the elastic rod 15 is a rigid part 20 and is mounted, the length of the extension part extending to the two sides is adjusted, the other end of the extension part is an elastic part 19 and is connected with the guide wheel mounting seat 16, the elastic part 19 is used for preventing the side guide wheel 8 from being in rigid contact with the inner side wall of the aqueduct, and simultaneously, pre-pressure can be provided between the side guide wheel 8 and the inner side wall of the aqueduct, so that the side guide wheel 8 and the inner side wall of the aqueduct are always kept in contact, the walking stability of the underwater walking device is improved, the structure is not limited, and the extension.
As a preferred embodiment, each side guide wheel 8 of the invention can carry power, is driven by a waterproof motor, and can also only carry power for the traveling wheels 5 or part of the traveling wheels 5, and is specifically adjusted according to the field situation of the aqueduct, for example, if the aqueduct is gentle, only part of the traveling wheels 5 need to carry power, if the gradient of the aqueduct is large or the inner wall of the aqueduct is slippery due to moss, all the traveling wheels 5 and the side guide wheels 8 need to carry power, the power is the IPX 8-grade waterproof motor, and the waterproof motor of the submersible pump can be specifically referred to.
As a more preferable embodiment, the invention can arrange a waterproof power supply (not shown in the figure) on the middle truss 1, and the power supply is used for supplying power without connecting wires. It should be noted that all the electrified devices or control boxes in the embodiments of the present invention need to meet the IPX 8-level waterproof requirement.
As a more preferable embodiment, there may be one (as shown in fig. 5), two (as shown in fig. 6) or more (as shown in fig. 7) probe supports 11 for mounting the inspection probes 12, a plurality of probe supports 11 are fixedly connected to the horizontal shaft 10 with the horizontal shaft 10 as a rotation center, each probe support 11 may carry one inspection probe 12 for performing multi-task inspection at the same time, and the number of the specific probe supports 11 may be increased or decreased according to actual inspection requirements on the site, without being limited by the number in the above embodiments.
The detection probe 12 is a high-resolution image acquisition system or a penetration detection module 2, the high-resolution image acquisition system can adopt a 360-degree high-definition underwater camera, the penetration detection module 2 can adopt an isolation cover to isolate relatively independent spaces on the inner wall of the aqueduct, and the detection methods include the following steps:
1 hot wire method-water in the area of the closure, the flow rate of the water being determined by hot wire method, a leak being evidenced if V.noteq.0;
2, an air pressure method, namely measuring the change value of the environmental air pressure by other sensors when water in a closed part area is subjected to air pressure method, and if delta P is less than 0, the leakage is proved;
3 tracking method-water in the enclosed partial area and injecting dye, and confirming the leakage point according to the dye flow direction.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (7)
1. The utility model provides an underwater walking device for aqueduct detects which characterized in that: comprises a middle truss and a detection module, wherein the front part and the rear part of the middle truss are respectively provided with a front truss and a rear truss, the bottoms of the front truss and the rear truss are respectively provided with a walking wheel and a waterproof motor for driving the walking wheel, two sides of the middle truss are respectively provided with a telescopic arm, the tail end of the telescopic arm is provided with a side guide wheel which is used for contacting and walking with the side wall of the aqueduct, the detection module comprises a detection module control box, a horizontal shaft, a probe bracket and a detection probe, the detection module control box is fixed on the front truss, the horizontal shaft is arranged on the detection module control box, the probe bracket is arranged at the tail end of the horizontal shaft, the detection probe is arranged at the bottom of the probe bracket, and a swing arm motor for driving a horizontal shaft to rotate is arranged in the detection module control box, and the swing arm motor is used for driving the probe support and the detection probe at the tail end of the probe support to rotate, so that the detection of the aqueduct is completed.
2. The underwater walking apparatus of claim 1, wherein: the underwater walking device further comprises a buoyancy adjusting module, the buoyancy adjusting module comprises a plurality of floating barrels, the plurality of floating barrels are longitudinally and symmetrically arranged in the middle truss, and a water inlet and a water outlet which are used for adjusting buoyancy are formed in each floating barrel.
3. The underwater walking apparatus of claim 2, wherein: the telescopic arms on the two sides of the middle truss are elastic telescopic arms with adjustable lengths, and the elastic telescopic arms are used for keeping the contact force between the side guide wheels and the side walls of the aqueducts, so that the walking stability of the whole underwater walking device is maintained.
4. The underwater walking apparatus of claim 3, wherein: the telescopic arm comprises a shell type guide groove, an elastic rod and a guide wheel mounting seat, the shell type guide groove is transversely fixed on the middle truss, one end of the elastic rod is freely slidably mounted in the shell type guide groove, the other end of the elastic rod is connected with the guide wheel mounting seat, the lateral guide wheel is mounted on the guide wheel mounting seat, a plurality of adjusting holes are formed in the shell type guide groove and the elastic rod, and the length of the elastic rod extending out of the two sides of the middle truss is selected through selecting different adjusting holes.
5. The underwater walking apparatus of claim 3, wherein: the front truss is connected with the front end of the middle truss through a plurality of groups of bolt holes, the height of the middle truss relative to the front truss can be adjusted by selecting different bolt holes, the rear truss is connected with the rear end of the middle truss through a plurality of groups of bolt holes, and the height of the middle truss relative to the rear truss can be adjusted by selecting different bolt holes, so that the overall height of the middle truss is adjusted.
6. The underwater walking apparatus of any one of claims 1 to 5, wherein: the detection probe is a high-resolution image acquisition system or a penetration detection module.
7. The underwater walking apparatus of claim 6, wherein: the middle truss, the front truss and the rear truss are all made of metal sections.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910826477.8A CN110702683B (en) | 2019-09-03 | 2019-09-03 | Underwater walking device for aqueduct detection |
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| CN201910826477.8A CN110702683B (en) | 2019-09-03 | 2019-09-03 | Underwater walking device for aqueduct detection |
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| CN110702683B CN110702683B (en) | 2020-11-17 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111751450A (en) * | 2020-07-31 | 2020-10-09 | 郑州迈控光电科技有限公司 | Underwater slope damage detection device |
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